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#include "status.h"
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Status::Status(Roer * r, Zeil * z, Kompas * k, Gps * g, Vaantje * v, Route * rout, Goto * gt, Pid * p) : zender(p13,p14) {
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roer = r;
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zeil = z;
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kompas = k;
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gps = g;
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route = rout;
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vaantje = v;
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got = gt;
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pid = p;
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manual = 1;
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zeilmanual = 1;
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zender.baud(115200);
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zender.attach(this, &Status::newData);
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}
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void Status::autoZeil(void) {
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double hoek = fabs(verschil((double)kompas->get(), (double)vaantje->get()));
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int s;
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if (hoek <= 40)
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s = 35;
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else if (hoek > 40 && hoek <= 100)
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s = (hoek - 40) * (55.0/60.0) + 35;
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else
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s = 90;
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zeil->set(s);
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}
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void Status::newData(void) {
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//buffer variables
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char lezen;
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//if data is ready in the buffer
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while (zender.readable()) {
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//read 1 character
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lezen = zender.getc();
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//if character is $ than it is the start of a sentence
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if (lezen == '$') {
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//so the pointer should be set to the first position
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b.clear();
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}
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//write buffer character to big buffer string
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b += lezen;
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//if the character is # than the end of the sentence is reached and some stuff has to be done
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if (lezen == '#') {
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char * cstr, *p;
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string c1,c2,c3,c4;
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int set = 1;
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int n;
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float f;
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//start en stop karakters afhakken
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b.erase(0,1);
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b.erase(b.length()-1,1);
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cstr = new char [b.size()+1];
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strcpy (cstr, b.c_str());
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p = strtok(cstr," ");
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if (p != NULL)
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c1 = p;
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p = strtok(NULL," ");
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if (p != NULL)
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c2 = p;
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p = strtok(NULL," ");
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if (p != NULL)
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c3 = p;
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else
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set = 0;
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p = strtok(NULL," ");
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if (p != NULL)
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c4 = p;
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delete[] cstr;
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if (c1 == "s") {
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zender.printf("%d %d %d %f %f %d %f %f %d\n\r",roer->get(),zeil->get(),kompas->get(),gps->get().lat,gps->get().lon,route->getActive(),route->afstand_tot_doel(), route->koers_tot_doel(),zeilmanual);
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}
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else if (c1 == "roer") {
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if (c2 == "set") {
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if (set) {
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sscanf (c3.c_str(),"%d",&n);
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roer->set(n);
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}
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} else if (c2 == "get") {
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if (!set) {
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zender.printf("%d\n\r",roer->get());
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}
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}
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} else if (c1 == "zeil") {
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if (c2 == "set") {
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if (set) {
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sscanf (c3.c_str(),"%d",&n);
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zeil->set(n);
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}
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} else if (c2 == "get") {
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if (!set) {
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zender.printf("%d\n\r",zeil->get());
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}
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}
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else if (c2 == "auto") {
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if (set) {
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sscanf (c3.c_str(),"%d",&n);
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if (n == 1) {
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zeiltimer.attach(this,&Status::autoZeil,0.1);
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zeilmanual = 0;
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}
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if (n == 0) {
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zeiltimer.detach();
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zeilmanual = 1;
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}
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}
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if (!set) {
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zender.printf("%d\n\r",zeilmanual);
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}
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}
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} else if (c1 == "pid") {
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if (c2 == "enable") {
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if (set) {
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sscanf (c3.c_str(),"%d",&n);
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if (n == 1) {
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timer.attach(pid,&Pid::update,0.1);
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manual = 0;
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}
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if (n == 0) {
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timer.detach();
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manual = 1;
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}
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}
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if (!set) {
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zender.printf("%d\n\r",manual);
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}
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} else if (c2 == "info") {
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if (!set) {
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zender.printf("%d %f %f %f %f %f %f %f %f %f %d %d %d\n\r",manual,pid->getKP(),pid->getKI(),pid->getKD(),pid->getP(),pid->getI(),pid->getD(),pid->getE(),pid->getSP(),pid->getPV(),pid->getO(),route->getLoopMode(),got->getminhoek());
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}
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} else if (c2 == "setp") {
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if (set) {
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sscanf (c3.c_str(),"%f",&f);
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pid->setKp(f);
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}
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} else if (c2 == "seti") {
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if (set) {
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sscanf (c3.c_str(),"%f",&f);
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pid->setKi(f);
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}
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} else if (c2 == "setd") {
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if (set) {
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sscanf (c3.c_str(),"%f",&f);
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pid->setKd(f);
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}
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} else if (c2 == "manual") {
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if (set) {
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sscanf (c3.c_str(),"%d",&n);
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int m = n;
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sscanf (c4.c_str(),"%d",&n);
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got->manual(m,n);
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}
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}
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190
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} else if (c1 == "kompas") {
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if (c2 == "get") {
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if (!set) {
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zender.printf("%d\n\r",kompas->get());
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}
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}
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if (c2 == "cal") {
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if (set) {
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sscanf (c3.c_str(),"%d",&n);
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if (n) {
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kompas->startcal();
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} else {
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kompas->stopcal();
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}
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}
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}
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} else if (c1 == "vaantje") {
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208
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if (c2 == "set") {
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if (set) {
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sscanf (c3.c_str(),"%d",&n);
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vaantje->set(n);
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}
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}
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} else if (c1 == "gps") {
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215
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if (c2 == "gga") {
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if (!set) {
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217
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zender.printf("%s",gps->getgga());
|
| pd0wm |
0:bec310bde899
|
218
|
}
|
| pd0wm |
0:bec310bde899
|
219
|
} else if (c2 == "lat") {
|
| pd0wm |
0:bec310bde899
|
220
|
if (!set) {
|
| pd0wm |
0:bec310bde899
|
221
|
zender.printf("%f",gps->get().lat);
|
| pd0wm |
0:bec310bde899
|
222
|
}
|
| pd0wm |
0:bec310bde899
|
223
|
} else if (c2 == "lon") {
|
| pd0wm |
0:bec310bde899
|
224
|
if (!set) {
|
| pd0wm |
0:bec310bde899
|
225
|
zender.printf("%f",gps->get().lon);
|
| pd0wm |
0:bec310bde899
|
226
|
}
|
| pd0wm |
0:bec310bde899
|
227
|
}
|
| pd0wm |
0:bec310bde899
|
228
|
} else if (c1 == "route") {
|
| pd0wm |
0:bec310bde899
|
229
|
if (c2 == "list") {
|
| pd0wm |
0:bec310bde899
|
230
|
if (!set) {
|
| pd0wm |
0:bec310bde899
|
231
|
for (int x = 0; x!=route->getlen(); x++) {
|
| pd0wm |
0:bec310bde899
|
232
|
zender.printf("%d) %f %f\r\n",x,route->read(x).lat,route->read(x).lon);
|
| pd0wm |
0:bec310bde899
|
233
|
}
|
| pd0wm |
0:bec310bde899
|
234
|
zender.printf("OK\r\n");
|
| pd0wm |
0:bec310bde899
|
235
|
|
| pd0wm |
0:bec310bde899
|
236
|
}
|
| pd0wm |
0:bec310bde899
|
237
|
} else if (c2 == "add") {
|
| pd0wm |
0:bec310bde899
|
238
|
if (set) {
|
| pd0wm |
0:bec310bde899
|
239
|
float la;
|
| pd0wm |
0:bec310bde899
|
240
|
float lo;
|
| pd0wm |
0:bec310bde899
|
241
|
|
| pd0wm |
0:bec310bde899
|
242
|
|
| pd0wm |
0:bec310bde899
|
243
|
sscanf(c3.c_str(),"%f", &la);
|
| pd0wm |
0:bec310bde899
|
244
|
|
| pd0wm |
0:bec310bde899
|
245
|
sscanf(c4.c_str(),"%f", &lo);
|
| pd0wm |
0:bec310bde899
|
246
|
|
| pd0wm |
0:bec310bde899
|
247
|
|
| pd0wm |
0:bec310bde899
|
248
|
pos t;
|
| pd0wm |
0:bec310bde899
|
249
|
t.lat = la;
|
| pd0wm |
0:bec310bde899
|
250
|
t.lon = lo;
|
| pd0wm |
0:bec310bde899
|
251
|
|
| pd0wm |
0:bec310bde899
|
252
|
route->add(t);
|
| pd0wm |
0:bec310bde899
|
253
|
}
|
| pd0wm |
0:bec310bde899
|
254
|
} else if (c2 == "del") {
|
| pd0wm |
0:bec310bde899
|
255
|
if (set) {
|
| pd0wm |
0:bec310bde899
|
256
|
sscanf(c3.c_str(),"%d", &n);
|
| pd0wm |
0:bec310bde899
|
257
|
route->del(n);
|
| pd0wm |
0:bec310bde899
|
258
|
|
| pd0wm |
0:bec310bde899
|
259
|
}
|
| pd0wm |
0:bec310bde899
|
260
|
|
| pd0wm |
0:bec310bde899
|
261
|
} else if (c2 == "up") {
|
| pd0wm |
0:bec310bde899
|
262
|
if (set) {
|
| pd0wm |
0:bec310bde899
|
263
|
sscanf(c3.c_str(),"%d", &n);
|
| pd0wm |
0:bec310bde899
|
264
|
route->up(n);
|
| pd0wm |
0:bec310bde899
|
265
|
|
| pd0wm |
0:bec310bde899
|
266
|
}
|
| pd0wm |
0:bec310bde899
|
267
|
|
| pd0wm |
0:bec310bde899
|
268
|
} else if (c2 == "down") {
|
| pd0wm |
0:bec310bde899
|
269
|
if (set) {
|
| pd0wm |
0:bec310bde899
|
270
|
sscanf(c3.c_str(),"%d", &n);
|
| pd0wm |
0:bec310bde899
|
271
|
route->down(n);
|
| pd0wm |
0:bec310bde899
|
272
|
|
| pd0wm |
0:bec310bde899
|
273
|
}
|
| pd0wm |
0:bec310bde899
|
274
|
|
| pd0wm |
0:bec310bde899
|
275
|
} else if (c2 == "act") {
|
| pd0wm |
0:bec310bde899
|
276
|
if (set) {
|
| pd0wm |
0:bec310bde899
|
277
|
sscanf(c3.c_str(),"%d", &n);
|
| pd0wm |
0:bec310bde899
|
278
|
route->setActive(n);
|
| pd0wm |
0:bec310bde899
|
279
|
|
| pd0wm |
0:bec310bde899
|
280
|
}
|
| pd0wm |
0:bec310bde899
|
281
|
if (!set) {
|
| pd0wm |
0:bec310bde899
|
282
|
zender.printf("%d\r\n",route->getActive());
|
| pd0wm |
0:bec310bde899
|
283
|
|
| pd0wm |
0:bec310bde899
|
284
|
}
|
| pd0wm |
0:bec310bde899
|
285
|
|
| pd0wm |
0:bec310bde899
|
286
|
} else if (c2 == "dist") {
|
| pd0wm |
0:bec310bde899
|
287
|
if (!set) {
|
| pd0wm |
0:bec310bde899
|
288
|
zender.printf("%f\r\n",route->afstand_tot_doel());
|
| pd0wm |
0:bec310bde899
|
289
|
|
| pd0wm |
0:bec310bde899
|
290
|
}
|
| pd0wm |
0:bec310bde899
|
291
|
} else if (c2 == "koers") {
|
| pd0wm |
0:bec310bde899
|
292
|
if (!set) {
|
| pd0wm |
0:bec310bde899
|
293
|
zender.printf("%f\r\n",route->koers_tot_doel());
|
| pd0wm |
0:bec310bde899
|
294
|
|
| pd0wm |
0:bec310bde899
|
295
|
}
|
| pd0wm |
0:bec310bde899
|
296
|
|
| pd0wm |
0:bec310bde899
|
297
|
} else if (c2 == "minhoek") {
|
| pd0wm |
0:bec310bde899
|
298
|
if (set) {
|
| pd0wm |
0:bec310bde899
|
299
|
sscanf(c3.c_str(),"%d", &n);
|
| pd0wm |
0:bec310bde899
|
300
|
got->setminhoek(n);
|
| pd0wm |
0:bec310bde899
|
301
|
|
| pd0wm |
0:bec310bde899
|
302
|
}
|
| pd0wm |
0:bec310bde899
|
303
|
} else if (c2 == "hys") {
|
| pd0wm |
0:bec310bde899
|
304
|
if (set) {
|
| pd0wm |
0:bec310bde899
|
305
|
sscanf(c3.c_str(),"%d", &n);
|
| pd0wm |
0:bec310bde899
|
306
|
got->sethys(n);
|
| pd0wm |
0:bec310bde899
|
307
|
|
| pd0wm |
0:bec310bde899
|
308
|
}
|
| pd0wm |
0:bec310bde899
|
309
|
} else if (c2 == "loop") {
|
| pd0wm |
0:bec310bde899
|
310
|
if (set) {
|
| pd0wm |
0:bec310bde899
|
311
|
sscanf(c3.c_str(),"%d", &n);
|
| pd0wm |
0:bec310bde899
|
312
|
route->loopMode(n);
|
| pd0wm |
0:bec310bde899
|
313
|
|
| pd0wm |
0:bec310bde899
|
314
|
}
|
| pd0wm |
0:bec310bde899
|
315
|
|
| pd0wm |
0:bec310bde899
|
316
|
}
|
| pd0wm |
0:bec310bde899
|
317
|
|
| pd0wm |
0:bec310bde899
|
318
|
|
| pd0wm |
0:bec310bde899
|
319
|
|
| pd0wm |
0:bec310bde899
|
320
|
|
| pd0wm |
0:bec310bde899
|
321
|
|
| pd0wm |
0:bec310bde899
|
322
|
}
|
| pd0wm |
0:bec310bde899
|
323
|
|
| pd0wm |
0:bec310bde899
|
324
|
}
|
| pd0wm |
0:bec310bde899
|
325
|
|
| pd0wm |
0:bec310bde899
|
326
|
}
|
| pd0wm |
0:bec310bde899
|
327
|
|
| pd0wm |
0:bec310bde899
|
328
|
|
| pd0wm |
0:bec310bde899
|
329
|
}
|
Willem Melching